MCP: Learning Composable Hierarchical Control with Multiplicative Compositional Policies

23 May 2019

Pieter Abbeel

Papers citing "MCP: Learning Composable Hierarchical Control with Multiplicative Compositional Policies"

50 / 61 papers shown

Title
A Comprehensive Survey of Mixture-of-Experts: Algorithms, Theory, and Applications Siyuan Mu Sen Lin MoE 186 2 0 10 Mar 2025
Discovery of skill switching criteria for learning agile quadruped locomotion Wanming Yu Fernando Acero Vassil Atanassov Chuanyu Yang Ioannis Havoutis Dimitrios Kanoulas Zhibin Li 55 0 0 10 Feb 2025
Skill Expansion and Composition in Parameter Space Tenglong Liu Junjie Li Yinan Zheng Haoyi Niu Yixing Lan Xin Xu Xianyuan Zhan 64 4 0 09 Feb 2025
Compositional Models for Estimating Causal Effects Purva Pruthi David D. Jensen CML 70 0 0 25 Jun 2024
PhysReaction: Physically Plausible Real-Time Humanoid Reaction Synthesis via Forward Dynamics Guided 4D Imitation Yunze Liu Changxi Chen Chenjing Ding Li Yi 39 6 0 01 Apr 2024
Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots Guilherme Christmann Ying-Sheng Luo Wei-Chao Chen 34 0 0 18 Mar 2024
MoConVQ: Unified Physics-Based Motion Control via Scalable Discrete Representations Heyuan Yao Zhenhua Song Yuyang Zhou Tenglong Ao Baoquan Chen Libin Liu 28 38 0 16 Oct 2023
AdaptNet: Policy Adaptation for Physics-Based Character Control Pei Xu Kaixiang Xie Sheldon Andrews P. Kry Michael Neff Morgan McGuire Ioannis Karamouzas Victor Zordan TTA 50 17 0 30 Sep 2023
Neural Categorical Priors for Physics-Based Character Control Qing Zhu He Zhang Mengting Lan Lei Han 34 32 0 14 Aug 2023
Simulation and Retargeting of Complex Multi-Character Interactions Yunbo Zhang Deepak Gopinath Yuting Ye Jessica Hodgins Greg Turk Jungdam Won 31 31 0 31 May 2023
On the Value of Myopic Behavior in Policy Reuse Kang Xu Chenjia Bai Shuang Qiu Haoran He Bin Zhao Zhen Wang Wei Li Xuelong Li 38 1 0 28 May 2023
ACE: Adversarial Correspondence Embedding for Cross Morphology Motion Retargeting from Human to Nonhuman Characters Tianyu Li Jungdam Won Alexander Clegg Jeonghwan Kim Akshara Rai Sehoon Ha 31 21 0 24 May 2023
Perpetual Humanoid Control for Real-time Simulated Avatars Zhengyi Luo Jinkun Cao Alexander W. Winkler Kris Kitani Weipeng Xu 63 91 0 10 May 2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning Tuomas Haarnoja Ben Moran Guy Lever Sandy H. Huang Dhruva Tirumala ... Andrea Huber N. Hurley F. Nori R. Hadsell N. Heess 50 143 0 26 Apr 2023
DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji G. Margolis Pulkit Agrawal 39 55 0 03 Apr 2023
Multi-Task Reinforcement Learning in Continuous Control with Successor Feature-Based Concurrent Composition Y. Liu Aamir Ahmad 29 4 0 24 Mar 2023
Synthesizing Physical Character-Scene Interactions Mohamed Hassan Yunrong Guo Tingwu Wang Michael J. Black Sanja Fidler Xue Bin Peng 44 80 0 02 Feb 2023
A Constrained-Optimization Approach to the Execution of Prioritized Stacks of Learned Multi-Robot Tasks Gennaro Notomista 33 2 0 13 Jan 2023
Utilizing Prior Solutions for Reward Shaping and Composition in Entropy-Regularized Reinforcement Learning Jacob Adamczyk A. Arriojas Stas Tiomkin R. Kulkarni 45 8 0 02 Dec 2022
SkillS: Adaptive Skill Sequencing for Efficient Temporally-Extended Exploration Giulia Vezzani Dhruva Tirumala Markus Wulfmeier Dushyant Rao A. Abdolmaleki ... Tim Hertweck Thomas Lampe Fereshteh Sadeghi N. Heess Martin Riedmiller OffRL 43 6 0 24 Nov 2022
ControlVAE: Model-Based Learning of Generative Controllers for Physics-Based Characters Heyuan Yao Zhenhua Song Bin Chen Libin Liu DRL VGen 16 41 0 12 Oct 2022
QuestSim: Human Motion Tracking from Sparse Sensors with Simulated Avatars Alexander W. Winkler Jungdam Won Yuting Ye 50 115 0 20 Sep 2022
Latent Plans for Task-Agnostic Offline Reinforcement Learning Erick Rosete-Beas Oier Mees Gabriel Kalweit Joschka Boedecker Wolfram Burgard OffRL 46 81 0 19 Sep 2022
Neural3Points: Learning to Generate Physically Realistic Full-body Motion for Virtual Reality Users Yongjing Ye Libin Liu Lei Hu Shi-hong Xia 3DH 52 27 0 13 Sep 2022
MoCapAct: A Multi-Task Dataset for Simulated Humanoid Control Nolan Wagener Andrey Kolobov Felipe Vieira Frujeri Ricky Loynd Ching-An Cheng Matthew J. Hausknecht 32 21 0 15 Aug 2022
Learning Dynamic Manipulation Skills from Haptic-Play Taeyoon Lee D. Sung Kyoung-Whan Choi Choong-Keun Lee Changwoo Park Keunjun Choi 44 3 0 28 Jul 2022
How to Reuse and Compose Knowledge for a Lifetime of Tasks: A Survey on Continual Learning and Functional Composition Jorge Armando Mendez Mendez Eric Eaton KELM CLL 37 27 0 15 Jul 2022
Embodied Scene-aware Human Pose Estimation Zhengyi Luo Shun Iwase Ye Yuan Kris Kitani 3DH 27 28 0 18 Jun 2022
Learning to Use Chopsticks in Diverse Gripping Styles Zeshi Yang KangKang Yin Libin Liu 35 29 0 28 May 2022
ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters Xue Bin Peng Yunrong Guo L. Halper Sergey Levine Sanja Fidler 28 15 0 04 May 2022
Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning Sunwoo Kim Maks Sorokin Jehee Lee Sehoon Ha 36 14 0 28 Apr 2022
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors Steven Bohez S. Tunyasuvunakool Philemon Brakel Fereshteh Sadeghi Leonard Hasenclever ... Nathan Batchelor Federico Casarini J. Merel R. Hadsell N. Heess 38 51 0 31 Mar 2022
Unsupervised Learning of Temporal Abstractions with Slot-based Transformers Anand Gopalakrishnan Kazuki Irie Jürgen Schmidhuber Sjoerd van Steenkiste OffRL 26 16 0 25 Mar 2022
SAFER: Data-Efficient and Safe Reinforcement Learning via Skill Acquisition Dylan Slack Yinlam Chow Bo Dai Nevan Wichers OffRL 37 7 0 10 Feb 2022
Transfering Hierarchical Structure with Dual Meta Imitation Learning Chongkai Gao Yizhou Jiang F. Chen 30 8 0 28 Jan 2022
TRAIL: Near-Optimal Imitation Learning with Suboptimal Data Mengjiao Yang Sergey Levine Ofir Nachum OffRL 41 42 0 27 Oct 2021
Hierarchical Skills for Efficient Exploration Jonas Gehring Gabriel Synnaeve Andreas Krause Nicolas Usunier 28 40 0 20 Oct 2021
A Survey on Deep Learning for Skeleton-Based Human Animation Lucas Mourot Ludovic Hoyet F. Clerc Francois Schnitzler Pierre Hellier 3DH 36 78 0 13 Oct 2021
Learning Multi-Objective Curricula for Robotic Policy Learning Jikun Kang Miao Liu Abhinav Gupta C. Pal Xue Liu Jie Fu 42 4 0 06 Oct 2021
Hierarchical Primitive Composition: Simultaneous Activation of Skills with Inconsistent Action Dimensions in Multiple Hierarchies Jeong-Hoon Lee Jongeun Choi 26 8 0 05 Oct 2021
Dynamics-Regulated Kinematic Policy for Egocentric Pose Estimation Zhengyi Luo Ryo Hachiuma Ye Yuan Kris Kitani EgoV 27 85 0 10 Jun 2021
From Motor Control to Team Play in Simulated Humanoid Football Siqi Liu Guy Lever Zhe Wang J. Merel S. M. Ali Eslami ... Tuomas Haarnoja Brendan D. Tracey K. Tuyls T. Graepel N. Heess 31 130 0 25 May 2021
Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning Julen Urain Anqi Li Puze Liu Carlo DÉramo Jan Peters 33 26 0 11 May 2021
Discovering Diverse Athletic Jumping Strategies Zhiqi Yin Zeshi Yang M. van de Panne KangKang Yin 42 46 0 02 May 2021
Online Baum-Welch algorithm for Hierarchical Imitation Learning Vittorio Giammarino I. Paschalidis OffRL 22 2 0 22 Mar 2021
Multi-expert learning of adaptive legged locomotion Chuanyu Yang Kai Yuan Qiuguo Zhu Wanming Yu Zhibin Li 111 184 0 10 Dec 2020
From Pixels to Legs: Hierarchical Learning of Quadruped Locomotion Deepali Jain Atil Iscen Ken Caluwaerts 29 35 0 23 Nov 2020
Distilling a Hierarchical Policy for Planning and Control via Representation and Reinforcement Learning Jung-Su Ha Young-Jin Park Hyeok-Joo Chae Soon-Seo Park Han-Lim Choi 35 3 0 16 Nov 2020
OPAL: Offline Primitive Discovery for Accelerating Offline Reinforcement Learning Anurag Ajay Aviral Kumar Pulkit Agrawal Sergey Levine Ofir Nachum OffRL OnRL 39 155 0 26 Oct 2020
Towards General and Autonomous Learning of Core Skills: A Case Study in Locomotion Roland Hafner Tim Hertweck Philipp Kloppner Michael Bloesch Michael Neunert Markus Wulfmeier S. Tunyasuvunakool N. Heess Martin Riedmiller 20 19 0 06 Aug 2020